Robot finger opening angle self-adaptive control structure

Abstract

The utility model relates to the technical field of robots, in particular to a self-adaptive control structure for the opening angle of robot fingers, which greatly simplifies the structural content and realizes more flexible and independent movement on the basis of realizing the flexible bending angle of the robot fingers by designing a variable guide formed by a V-shaped elastic sheet. The design and maintenance cost is reduced, the application scene and the market scale are wider, and a more efficient and practical solution is provided for robot finger control.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a robot finger opening angle adaptive control structure. Background Art

[0002] As robotics technology continues to advance, the design of robot hand actuators has become one of the key points. Currently, there are two common robot hand actuator designs:

[0003] One type of dexterous hand design pursues independent movement of all five fingers. To achieve high flexibility and precise control of the five fingers, this design often uses a separate motor for each degree of freedom. Such a robotic dexterous hand may even require more than 10 motors for precise control. This not only significantly increases manufacturing costs—for example, the purchase cost of each motor, combined with the complex installation and commissioning costs, makes the entire hand actuator expensive—but the numerous motors also make the control system extremely complex, requiring highly specialized technicians to program and maintain, increasing both labor and time costs. Furthermore, the excessive number of motors and supporting transmission components significantly increases the weight and volume of the hand structure, negatively impacting the robot's overall motion performance and energy consumption. Furthermore, the complex structure increases the probability of failure. Once a motor or transmission component fails, repair or replacement becomes extremely difficult, further driving up the cost of use.

[0004] The other type is the common clamp-type end effector. This design usually uses a simple gripper structure and can only perform some basic grasping actions, with very limited functions. For example, for objects with irregular shapes, small volumes or soft textures, clamp-type end effectors often find it difficult to achieve stable and precise grasping. Moreover, due to the limitations of its structure, it cannot simulate the flexible movements of human fingers, and cannot complete complex tasks such as fine operations and simultaneous grasping of multiple objects, and its scope of application is greatly limited. In some application scenarios that require high precision and high flexibility, such as electronic product assembly and medical surgery assistance, this type of clamp-type end effector is almost incapable of doing the job.

[0005] The functional implementation of both of the aforementioned robotic hand actuators relies on adjusting the opening angle of the robot's fingers. Existing technologies typically require specialized drive mechanisms to adjust the rotation angle at the base of the fingers. This design not only increases structural complexity but also places extremely high demands on the precision and stability of the drive components. Traditional drive methods often result in increased energy consumption and slower response speeds, making it difficult to meet the practical requirements for fast, accurate, and flexible operation of robotic hands. Furthermore, the complex structure and numerous components increase the probability of failure and lead to high maintenance costs.

[0006] Based on the above reasons, the utility model designs a robot finger opening angle adaptive control structure, which has significant advantages such as simple structure, low cost, high flexibility, fast response speed and strong reliability. Summary of the Invention

[0007] The purpose of the utility model is to overcome the deficiencies of the prior art and provide a robot finger opening angle adaptive control structure, which has significant advantages such as simple structure, low cost, high flexibility, fast response speed and strong reliability.

[0008] In order to achieve the above-mentioned purpose, the utility model provides a robot finger opening angle adaptive control structure, including a robot hand, a V-shaped spring piece group, a key rope, a through hole and a drive pull piece. A drive pull piece is provided in the finger of the robot hand, and the top of the drive pull piece is connected to the inner side of the finger through the through hole. A rotating shaft for guiding the finger to bend inward is provided at the joint of the finger. The bottom of the drive pull piece is connected to the power mechanism through the key rope. A receiving space for installing and fixing the V-shaped spring piece group is provided at the connection between the root of the finger and the palm of the robot hand. The V-shaped spring piece group is arranged symmetrically on both sides of the drive pull piece, and one side of the V-shaped spring piece group is fixed on the side wall of the connection between the root of the finger and the palm of the robot hand. The opening angle range of the V-shaped spring piece of the V-shaped spring piece group is 2°~15°.

[0009] The connection between the base of the fingers and the palm of the robotic hand is provided with a movable joint for the fingers to deflect left and right.

[0010] The movable joint is a bearing.

[0011] The driving pull tab is elongated in shape.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] First of all, it has achieved remarkable results in cost control. Although the utility model does not completely abandon the motor drive system as a whole, it abandons the motor drive in controlling the freedom of the fingers to close and open at the base of the fingers. The finger movement channel is formed by V-shaped springs, and the passive freedom design of 5 fingers or 4 fingers (the thumb is designed separately) is realized, which greatly reduces the manufacturing cost of this part of the robot dexterous hand. Compared with the traditional design that relies entirely on motors to control the fingers, this technology has obvious advantages in cost and provides the possibility for large-scale application. In addition, the present application uses bearings as movable joints, which can give the fingers a certain redundant degree of freedom of left and right deflection during the dynamic process of bending, making them more flexible and not causing damage to the internal structure during the bending process of the power mechanism.

[0014] Secondly, as a simplified solution to the traditional dexterous hand design, the utility model significantly reduces the design difficulty. It no longer needs to design complex motor control and precise transmission systems for the freedom of closing and opening the fingers, which greatly simplifies the entire design process and the required technical knowledge.

[0015] Furthermore, the present invention significantly improves the flexibility and adaptability of the robot hand. The opening angle of the V-shaped spring clips corresponding to different fingers is generally controlled at 2 to 15 degrees, simulating the joint characteristics of human fingers, allowing the robot hand to bend and stretch as flexibly and freely as human fingers, adapting to various complex working environments and task requirements. This enables the completion of more complex and delicate tasks, such as the fine assembly of electronic products and auxiliary operations in medical surgery, greatly expanding the application areas of robots. It also effectively reduces the complexity and weight of the structure, reducing the failure rate. At the same time, it provides space redundancy for other structural designs of the robot, making the overall design more compact and optimized.

[0016] Furthermore, the present invention utilizes a unique V-shaped spring plate structure and drive method, significantly reducing direct contact and friction between mechanical components. During the frequent bending and stretching of fingers, traditional mechanical connections often experience increased wear due to the constant friction between components, which in turn affects service life and precision. However, the V-shaped spring plate and drive pull tab in the present invention work together to reduce the friction surface and optimize the contact method, significantly reducing wear and tear, thereby significantly extending the service life of the entire hand structure. This means that during long-term operation, the robot does not need to frequently replace hand components, reducing maintenance costs and downtime.

[0017] Secondly, this unique design significantly reduces the energy loss of the fingers during movement. Traditional motor drives and complex transmission systems waste a lot of energy during energy transfer due to energy conversion and mechanical losses in multiple links. In the present invention, the motion transmission path from the power source to the fingers is relatively simple and direct, and the energy conversion efficiency is higher. When the fingers bend and extend, the elastic deformation and recovery of the V-shaped springs can effectively store and release energy, further improving energy utilization efficiency. This not only helps to reduce the overall energy consumption of the robot, but also extends its battery life, allowing it to complete more work tasks under limited energy supply. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a front schematic diagram of the present utility model.

[0019] Figure 2 This is a schematic diagram of the finger bending of the present invention.

[0020] Figure 3It is a schematic diagram of the relative relationship between the V-shaped spring piece group and the driving pull piece of the present invention.

[0021] Description of reference numerals:

[0022] 1 is the robot arm, 2 is the V-shaped spring assembly, 3 is the key rope, 4 is the through hole, 5 is the drive pull tab, and 6 is the finger. DETAILED DESCRIPTION

[0023] The present invention will now be further described with reference to the accompanying drawings.

[0024] See also Figures 1 to 3 The utility model provides a robot finger opening angle adaptive control structure, including a robot hand 1, a V-shaped spring piece group 2, a key rope 3, a through hole 4 and a driving pull piece 5. The driving pull piece 5 is provided in the finger of the robot hand 1, and the top of the driving pull piece 5 is connected to the inner side of the finger through the through hole 4. The joint of the finger is provided with a rotating shaft for guiding the finger to bend inward. The bottom of the driving pull piece 5 is connected to the power mechanism through the key rope 3. The connection between the root of the finger and the palm of the robot hand 1 is provided with an accommodating space for installing and fixing the V-shaped spring piece group 2. The V-shaped spring piece group 2 is arranged on both sides of the driving pull piece 5 in a symmetrical manner. One side of the V-shaped spring piece group 2 is fixed to the side wall of the connection between the root of the finger and the palm of the robot hand 1. The opening angle range of the V-shaped spring piece of the V-shaped spring piece group 2 is 2° to 15°.

[0025] The connection between the base of the fingers and the palm of the robot hand 1 is provided with a movable joint for the fingers to deflect left and right.

[0026] The movable joint is a bearing.

[0027] The driving tab 5 has an elongated shape.

[0028] Working principle:

[0029] At the junction of the base of the finger and the palm, a finger movement channel formed by a V-shaped spring assembly 2 is cleverly designed. When the finger is in its initial, naturally extended position, the finger's drive tab 5 is not subject to any external force. The finger is slightly bent toward the palm, completely relaxed, and quietly placed in the channel formed by the V-shaped spring assembly 2. At this time, the finger remains extended, and the V-shaped spring assembly 2 also maintains the initially set default angle.

[0030] When the external control system issues a command to bend and close the fingers, the control mechanism begins applying a downward pulling force. This pulling force exerts a vertical downward traction on the finger's drive tab 5, simultaneously causing the finger to bend inward from the fingertip. Because the finger joints are equipped with pivots, the finger bends from the joints, just like a real finger, until it rests against the palm. Furthermore, the active joints at the base of the finger and the palm provide a certain amount of room for left and right deflection. Even if the finger is not straight at first, it will recover under the downward pulling force. This helps to make the bending process smoother, ensuring the finger's flexibility during bending and rebound recovery, and preventing damage to the finger's internal components.

[0031] Since the driving pull tab 5 is located between the V-shaped spring sheet groups 2, it will exert lateral pressure on the V-shaped spring sheet groups 2 on both sides during movement. One side of the V-shaped spring sheet group 2 is firmly fixed to the side wall where the base of the finger and the palm are connected, while the other side has the ability to move. After receiving the lateral pressure from the driving pull tab 5, the movable side begins to undergo elastic deformation. As the pulling force continues to increase, the V-shaped spring sheet group 2 gradually begins to change significantly from the initial default angle. Initially, the V-shaped spring sheet group 2 may only be slightly deformed, but as the pulling force continues to increase, they will eventually gradually change from the original inclined angle to a vertical direction consistent with the pulling direction. As Figure 3 As shown, when the fingers are initially open, the drive pull tab 5 is at a preset deflection angle, and the V-shaped spring plate group 2 is naturally opened, with the angle consistent with the drive pull tab 5. When the fingers are clenched, the drive pull tab 5 is vertical and forces the V-shaped spring plate group 2 to be squeezed. At this time, the drive pull tab 5 is bent to the maximum, the fingers 6 reach the most clenched state, and the internal stress is maximum.

[0032] During this deformation process, the active side of the V-shaped spring assembly 2 provides a gradually changing motion trajectory for the drive pull tab 5, guiding the drive pull tab 5 to move along a specific path. This precise guided movement mode then drives the fingers to gradually transition from the extended state to the bent and closed state.

[0033] The opening angle of the V-shaped spring assembly 2 is typically controlled within a range of 2° to 15° for different fingers. For the index, middle, ring, and pinky fingers, for example, the angle for smaller fingers may be between 2° and 10°, while for larger fingers, it may be between 5° and 15°. This angle setting closely simulates the joint movement characteristics of human fingers, ensuring natural, smooth, and practical movements during finger flexion and extension.

[0034] The thumb, due to its unique role in the hand, is typically designed separately. Its movement and control mechanisms are adjusted based on specific application scenarios and functional requirements. Different V-shaped spring group 2 parameters or connection methods may be used to achieve more flexible and independent movement.

[0035] Throughout the finger's movement, the elastic properties and deformation capabilities of the V-shaped spring element assembly 2, along with its precise interaction with the drive tab 5, enable precise and stable control of the finger's closing and opening motions. This design eliminates the need for a separate motor drive for the finger's base, significantly reducing cost and design complexity.

[0036] The above are only preferred embodiments of the present invention and are intended to help understand the method and core concept of this application. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be pointed out that for those skilled in the art, certain improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection of the present invention.

[0037] The utility model solves the problem in the prior art that a special drive mechanism is needed to adjust the rotation angle of the finger base, thereby increasing the complexity of the overall structural design, indirectly raising the requirements for the stability and accuracy of the drive mechanism, as well as the shortcomings of increased energy consumption, slower response speed, high maintenance costs and high design and production costs. By designing a variable guide composed of V-shaped spring clips, the flexible bending angle of the robot fingers is achieved, the structural content is greatly simplified, more flexible and independent movement is achieved, the design and maintenance costs are reduced, the application scenarios and market scale are also wider, and a more efficient and practical solution is provided for the control of robot fingers.

Claims

1. A robot finger opening angle adaptive control structure, characterized in that: The invention comprises a robot hand (1), a V-shaped spring piece group (2), a key rope (3), a through hole (4) and a driving pull piece (5), wherein the driving pull piece (5) is provided in the finger of the robot hand (1), the top of the driving pull piece (5) is connected to the inner side of the finger through the through hole (4), the joint on the finger is provided with a rotating shaft for guiding the finger to bend inward, the bottom of the driving pull piece (5) is connected to the power mechanism through the key rope (3), and a receiving space for installing and fixing the V-shaped spring piece group (2) is provided at the connection between the finger root and the palm of the robot hand (1), the V-shaped spring piece group (2) is arranged on both sides of the driving pull piece (5) in a symmetrical manner, one side of the V-shaped spring piece group (2) is fixed on the side wall of the connection between the finger root and the palm of the robot hand (1), and the opening angle range of the V-shaped spring piece of the V-shaped spring piece group (2) is 2° to 15°.

2. The robot finger opening angle adaptive control structure according to claim 1, characterized in that: The connection between the finger roots and the palm of the robotic hand (1) is provided with a movable joint for the fingers to deflect left and right.

3. The robot finger opening angle adaptive control structure according to claim 2, characterized in that: The movable joint is a bearing.

4. The robot finger opening angle adaptive control structure according to claim 1, characterized in that: The driving pull tab (5) is in an elongated shape.

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